JP5131076B2 - Coaxial motorcycle and control method thereof - Google Patents

Description

  The present invention relates to a coaxial two-wheeled vehicle that moves with a passenger, and more particularly, to a coaxial two-wheeled vehicle including a power source and a charge amount detection unit that detects a charge amount of the power source and a control method thereof.

Conventionally, a dividing step in which a driver gets on, a vehicle main body, a pair of wheels rotatably supported on the vehicle main body, a pair of wheel driving units that independently rotate and drive the pair of wheels, 2. Description of the Related Art A coaxial two-wheeled vehicle including a handle that changes the posture is known (see, for example, Patent Document 1).
JP 2006-315666 A

  By the way, since the coaxial two-wheeled vehicle is balanced by two wheels, it is generally unstable as compared with a vehicle having three or more wheels, but stabilization is realized by performing feedback control or the like. However, in the above conventional coaxial two-wheeled vehicle, for example, when the charge amount of the battery is greatly reduced, the driving force of the wheel cannot be appropriately controlled, so that there is a possibility of falling.

  The present invention has been made to solve such problems, and a main object of the present invention is to provide a coaxial two-wheeled vehicle with improved safety and a control method thereof.

  An aspect of the present invention for achieving the above object includes a power source, a charge amount detection unit that detects a charge amount of the power source, and a wheel drive unit that is driven by the power from the power source, A control apparatus for executing stop control for stopping driving of the wheel drive unit when the charge amount of the power source detected by the charge amount detection unit is equal to or less than a first predetermined amount, which is a coaxial two-wheeled vehicle that moves by being carried A coaxial two-wheeled vehicle characterized by comprising: According to this aspect, the safety of the coaxial two-wheeled vehicle can be further improved.

  Moreover, in this aspect, the control device may execute a getting-off assist control for assisting a passenger to get off after the stop control.

  On the other hand, an aspect of the present invention for achieving the above object includes a power source and a charge amount detection unit that detects a charge amount of the power source, and is driven by the power from the power source to carry a passenger. A moving coaxial two-wheeled vehicle, comprising: a control device that stops the start of the inversion control of the coaxial two-wheeled vehicle when the charge amount of the power source detected by the charge amount detection unit is equal to or less than a first predetermined amount; The characteristic coaxial two-wheeled vehicle may be used.

  Moreover, in these aspects, when the charge amount of the said power supply detected by the said charge amount detection part becomes below 2nd predetermined amount, you may further provide the warning part which alerts a passenger.

  Further, in these aspects, the control device may vary the first predetermined amount and / or the second predetermined amount in accordance with a control state of the coaxial two-wheel vehicle.

  In these embodiments, a step unit for placing a passenger's foot and an operation unit capable of operating at least forward and backward movement are further provided, and the control device sets an inclination angle of the step unit with respect to the passenger's getting-off direction. The getting-off assist control to be increased may be executed.

  In these aspects, the control device may control the coaxial two-wheel vehicle to move in the tilt direction when the step unit is tilted back and forth by the operation unit.

  In these embodiments, the control device may ground the grounding member on the road surface after the stop control.

  In addition, an aspect of the present invention for achieving the above object includes a charge amount detection step of detecting a charge amount of a power source and a wheel drive step of driving by power from the power source, A control method for a moving coaxial two-wheeled vehicle, including a control step of executing stop control to stop wheel driving when the charge amount of the power source detected in the charge amount detection step is equal to or less than a first predetermined amount. A control method for a coaxial two-wheeled vehicle may be used.

  Furthermore, one aspect of the present invention for achieving the above object includes a charge amount detection step of detecting a charge amount of a power source, and controls a coaxial two-wheeled vehicle that is driven by power from the power source and moves with a passenger on board. It is a method, Comprising: When the charge amount of the said power supply detected at the said charge amount detection process becomes below 1st predetermined amount, the control process which stops the start of the inversion control of the said coaxial two-wheeled vehicle is included, It is characterized by the above-mentioned. A control method for a coaxial two-wheeled vehicle may be used.

  According to the present invention, the safety of a coaxial two-wheeled vehicle can be further improved.

(First embodiment)

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. Fig.1 (a) is a front view which shows the structure of the coaxial two-wheeled vehicle which concerns on 1st Embodiment of this invention, FIG.1 (b) is a side view which shows the structure of the coaxial two-wheeled vehicle which concerns on 1st Embodiment of this invention. FIG. FIG. 2 is a block diagram showing an example of the system configuration of the coaxial two-wheeled vehicle according to the first embodiment of the present invention.

  As shown in FIGS. 1A, 1 </ b> B, and 2, the configuration of the coaxial two-wheel vehicle 10 is substantially the same as the configuration described in Patent Document 1 described above. In the present specification, the pitch axis is an axis corresponding to the axle of the pair of wheels 13L and 13R. The roll axis is an axis that passes through the center of the vehicle body 12 and is parallel to the traveling direction of the coaxial two-wheel vehicle 10. Further, the yaw axis is an axis that passes through the center of the vehicle body 12 and is perpendicular to the road surface on which the coaxial two-wheel vehicle 10 travels.

  The coaxial two-wheel vehicle 10 includes a vehicle body 12, wheels 13L and 13R, wheel drive units 14L and 14R, and an operation handle 15.

  The operation handle 15 is an operation unit that performs the forward or backward operation of the coaxial two-wheel vehicle 10 by tilting the operation handle 15 in the front-rear direction, and performs the turning operation of the coaxial two-wheel vehicle 10 by tilting in the roll direction.

  The lower end of the operation handle 15 is fixed to the operation lever bracket 24. Specifically, the operation handle 15 includes a handle post 35 and a handle lever 36 provided at the upper end of the handle post 35.

  A turning operation ring 37 capable of controlling the driving of the pair of wheel drive units 14L and 14R is disposed at the upper end of one protrusion of the handle lever 36. By turning the turning operation ring 37 in a desired direction that the driver wants to turn, an operation signal corresponding to the operation amount is output to the control device 46 described later.

  Thus, the control device controls the driving of the pair of wheel drive units 14L and 14R according to the operation signal from the turning operation ring 37, and causes a rotation difference between the left and right wheels 13L and 13R. As a result, the coaxial two-wheeled vehicle 10 can turn at a desired speed and direction.

  An exit switch 38 is provided at the upper end of the other protrusion of the handle lever 36. The getting-off switch 38 is a switch that generates a getting-off assist start trigger signal that serves as a trigger for executing the getting-off assist control.

  When the passenger presses the getting-off switch 38, a getting-off assist start trigger signal is supplied to the control device 46. The control device 46 starts execution of the getting-off assistance control in response to the getting-off assistance start trigger signal.

  The vehicle body 12 supports the operation handle 15 so as to be rotatable in the roll direction. The pair of wheels 13L and 13R are coaxially arranged on both sides in the direction orthogonal to the traveling direction of the vehicle main body 12, and are rotatably supported by the vehicle main body 12.

  Two step portions 11 </ b> L and 11 </ b> R are provided on the left and right sides of the operation handle 15 on the upper surface of the vehicle body 12. The step portions 11L and 11R are steps in which the rider rides on one foot at a time, and is composed of a pair of plates that are formed to be approximately the same as or slightly larger than the size of the person's sole.

  Step sensors 39L and 39R are provided in the step units 11L and 11R, respectively. The step sensors 39L and 39R are constituted by weight sensors, for example, and detect whether or not the passenger's foot is on each of the step portions 11L and 11R. Supply against.

  The vehicle body 12 has a parallel link structure described in Patent Document 1. The vehicle body 12 is arranged in parallel with each other on the vehicle body upper member 16 and the vehicle body lower member 17, and is arranged on the left and right in parallel with each other and can rotate with the vehicle body upper member 16 and the vehicle body lower member 17. And a pair of side surface members 18L and 18R connected to each other.

  Between the vehicle body upper member 16 and the vehicle body lower member 17 of the parallel link mechanism, the angles formed by the vehicle body upper member 16 and the vehicle body lower member 17 and the pair of side surface members 18L and 18R are maintained at right angles. A pair of coil springs 19 </ b> L and 19 </ b> R that generate spring force is interposed.

  Wheel drive units 14L and 14R are attached to the outer surfaces of the pair of side members 18L and 18R, respectively. The wheel drive units 14L and 14R are wheel drive units that rotationally drive the pair of wheels 13L and 13R independently. The wheel drive units 14L and 14R can be constituted by, for example, a wheel drive motor and a reduction gear connected to a rotation shaft of the wheel drive motor so as to be able to transmit power.

  Further, step portions 11L and 11R are independently attached to the upper end portions of the pair of side surface members 18L and 18R, respectively. The pair of step portions 11L and 11R are provided so as to expand horizontally at the same height position with a predetermined gap in the left-right direction that is the axle direction.

  An angle detection sensor 31 for detecting an operation amount (rotation amount) of the operation handle 15 is attached to the rotation support shaft 25 of the vehicle body 12. As the angle detection sensor 31, for example, a potentiometer, a sensor having a variable capacitor structure, or the like can be applied.

  A specific example of a power source that supplies power to the pair of wheel drive units 14L and 14R, the control device 46, other electronic devices, electric devices, and the like is provided on the upper surface of the operation lever bracket 24 that is the base of the operation handle 15. A battery 40 is provided. The battery 40 is covered with a power supply cover 41.

  For the battery 40, for example, a high-capacity and high-voltage secondary battery system is employed. The battery 40 is equipped with an auxiliary system for protecting the secondary battery cell from overcharge and overdischarge in the battery pack.

  The battery 40 is provided with a voltage sensor 42 showing a specific example of the charge amount detection unit 42 that detects the charge amount of the battery 40. The voltage sensor 42 is connected to the control device 46, and supplies the detected charge amount of the battery 40 to the control device 46 as a voltage signal.

  The handle lever 36 is provided with a warning lamp (indicator) 43 showing a specific example of a warning unit 43 that warns a passenger. The warning lamp 43 is connected to the control device 46 and lights up or blinks in response to a warning signal from the control device 46.

  For example, when the control device 46 determines that the charge amount of the battery 40 is equal to or less than the second predetermined amount N2 based on the voltage signal from the voltage sensor 42, the control device 46 transmits a warning signal to the warning lamp 43. When the warning lamp 43 receives a warning signal from the control device 46, the warning lamp 43 is turned on or blinked to indicate to the passenger that "Because the battery charge amount has decreased, control carefully after that." Warning.

  In addition, although the warning lamp 43 was illustrated as one specific example of the warning part 43, it is not restricted to this, For example, it may be a vibration apparatus (motor etc.) which vibrates the handle lever 36 grade | etc., And warns. A speaker that generates a sound and gives a warning may be used. Moreover, although the warning part 43 is provided in the handle lever 36, if a passenger can visually recognize, it can be provided in arbitrary positions.

  Drive units 44L and 44R for driving a pair of wheel drive units 14L and 14R and the like are built in the casing of the vehicle body upper member 16. The vehicle body lower member 17 includes a posture sensor unit 45 that is a posture detection unit that detects the posture of the vehicle body 12 and the operation handle 15 and outputs detection signals thereof, and a pair of wheel drive units 14L and 14R. A control device 46 is provided for outputting a control signal for controlling the driving of the motor.

  The control device 46 includes a detection signal from the attitude sensor unit 45, a detection signal from the angle detection sensor 31, a dismount assistance start trigger signal from the dismount switch 38, a foot detection signal from the step sensor 39, a voltage signal from the voltage sensor 42, Based on the above, predetermined arithmetic processing is executed, and necessary control signals are output to the pair of wheel drive units 14L, 14R and the like.

  As shown in FIG. 2, the control device 46 includes, for example, an arithmetic circuit 47 having a microcomputer (CPU), and a storage device 48 having a program memory, a data memory, other RAM, a ROM, and the like.

  The control device 46 is connected to the battery 40 and a pair of drive circuits 44L and 44R. The battery 40 and the pair of drive circuits 44L and 44R are connected via an emergency stop switch 49. The pair of drive circuits 44L and 44R independently control the rotational speed and direction of the pair of wheels 13L and 13R, and the pair of wheel drive units 14L and 14R are individually connected to them.

  The control device 46 includes a detection signal from the angle detection sensor 31, a detection signal from the attitude sensor unit 45, a dismount assistance start trigger signal from the dismount switch 38, a foot detection signal from the step sensor 39, and a voltage sensor 42. Is supplied with a voltage signal. In addition to the normal posture control, the control device 46 executes the dismount assistance control based on the dismount assistance start trigger signal and the foot detection signal.

  The attitude sensor unit 45 detects angular velocity and acceleration when the coaxial two-wheeled vehicle 10 travels, and includes, for example, a gyro sensor and an acceleration sensor. When the operation handle 15 is tilted forward or backward, the step portions 11L and 11R are tilted in the same direction. The posture sensor unit 45 detects angular velocity and acceleration corresponding to the tilt.

  Then, the control device 46 drives and controls the wheel drive units 14L and 14R so that the vehicle moves in the tilt direction of the operation handle 15 based on the angular velocity and acceleration detected by the attitude sensor unit 45.

  By the way, in the conventional coaxial two-wheeled vehicle, for example, when the charge amount of the battery is greatly reduced, the driving force of the wheel cannot be appropriately controlled, so that there is a risk of falling. Therefore, in the coaxial two-wheel vehicle 10 according to the first embodiment, when the control device 46 determines that the charge amount of the battery 40 is equal to or less than the first predetermined amount N1 based on the voltage signal detected by the voltage sensor 42, Safe stop control is executed to stop the driving of the wheel drive units 14L and 14R safely.

  Thereby, even when the charge amount of the battery 40 is lowered, the minimum charge amount of the battery 40 is surely secured, and the driving force of the wheels 13L and 13R is appropriately controlled, so that the coaxial two-wheeled vehicle 10 can be made safe. And it can be stopped reliably. That is, the safety of the coaxial two-wheel vehicle 10 can be further improved.

  Next, the control processing flow of the coaxial two-wheel vehicle 10 according to the first embodiment will be described in detail. FIG. 3 is a flowchart showing an example of a control processing flow of the coaxial two-wheeled vehicle according to the first embodiment.

  As shown in FIG. 3, first, the control device 46 executes a battery check task (step S100). In this battery check task, the control device 46 detects the amount of charge of the battery 40 based on the voltage signal from the voltage sensor 42 at a predetermined cycle (for example, several seconds to several tens of seconds) and sequentially stores it in the storage device 48.

  Next, the control device 46 determines whether or not the detected charge amount of the battery 40 is equal to or less than the second predetermined amount N2 (step S101). Here, the first predetermined amount N1 <the second predetermined amount N2. When the control device 46 determines that the charge amount of the battery 40 is not equal to or less than the second predetermined amount N2 (NO in step S101), the control device 46 returns to the above (step S100).

  On the other hand, when the control device 46 determines that the charge amount of the battery 40 is less than or equal to the second predetermined amount N2 (YES in step S101), the control device 46 lights or blinks the warning lamp 43 (step S102), Make a warning. As a result, the passenger can recognize that the charged amount of the battery 40 is reduced, and careful handling is required.

  Further, the control device 46 determines whether or not the detected charge amount of the battery 40 is equal to or less than the first predetermined amount N1 (step S103). Here, the first predetermined amount N1 is a value that is equal to or greater than the power consumption necessary for the coaxial two-wheel vehicle 10 to stop safely. For example, the load state such as the weight of the occupant, the gradient of the road surface, and the measurement of the voltage sensor 42. It is set with comprehensive consideration of errors, safety factors, etc. The second predetermined amount N2 is set to a safety factor larger than, for example, the first predetermined amount N1.

  The control device 46 may predict the current traveling load based on the past control state data of the coaxial two-wheel vehicle 10, and may vary the first predetermined amount N1 to an optimal value based on the prediction result. . Thereby, the driving | running | working which utilized the electric power of the battery 40 efficiently is attained, and the traveling distance of the coaxial two-wheeled vehicle 10 can be extended.

  When the control device 46 determines that the charge amount of the battery 40 is not equal to or less than the first predetermined amount N1 (NO in step S103), the control device 46 returns to the above (step S100). On the other hand, when it is determined that the charge amount of the battery 40 is equal to or less than the first predetermined amount N1 (YES in Step S103), the control device 46 executes safe stop control of the wheel drive units 14L and 14R (Step S104).

  When this safety stop control is executed, the control device 46 controls the wheel drive units 14L and 14R so that the vehicle speed of the coaxial two-wheel vehicle 10 converges to zero. Thereby, the passenger can safely get off from the coaxial two-wheeled vehicle 10 (step S105).

  Thus, even when the charge amount of the battery 40 decreases, the coaxial motorcycle 10 can be controlled by ensuring the minimum charge amount of the battery 40 and appropriately controlling the driving force of the wheels 13L and 13R. It can be stopped safely.

  When the control device 46 executes the safety stop control and determines that the coaxial two-wheeled vehicle 10 has stopped, the control device 46 moves a grounding member (not shown) such as a stand provided in the vehicle main body 12 to ground on the road surface. Also good. Thereby, stability when the coaxial two-wheeled vehicle 10 stops is improved, and a safer and more reliable stop is realized.

  As described above, in the coaxial two-wheel vehicle 10 according to the first embodiment of the present invention, when the control device 46 determines that the charge amount of the battery 40 is equal to or less than the first predetermined amount N1, the safety stop control of the wheel drive units 14L and 14R. Execute. Thereby, even when the charge amount of the battery 40 is lowered, the minimum charge amount of the battery 40 can be reliably ensured, and the driving force of the wheels 13L and 13R can be appropriately controlled. That is, the safety of the coaxial two-wheel vehicle 10 can be further improved.

  Next, a modification of the coaxial two-wheel vehicle 10 according to the first embodiment of the present invention will be described.

  In the said 1st Embodiment, the control apparatus 46 may perform alighting assistance control after execution of safe stop control. In this getting-off assistance control, the control device 46 performs control to increase the inclination angle of the step portions 11L and 11R with respect to the passenger getting-off direction.

Specifically, when the passenger gets off the front of the coaxial two-wheel vehicle 10, the forward tilt angles of the step portions 11L and 11R are increased. On the other hand, when the passenger gets down from the coaxial two-wheeled vehicle 10, the rearward tilt angle of the step portions 11L and 11R is increased. As a result, it is possible to assist the passenger in getting off the vehicle and to get off without taking an unnatural posture. That is, the safety of the coaxial two-wheel vehicle 10 can be further improved.
(Second Embodiment)

  As described above, in the coaxial two-wheeled vehicle 10 according to the first embodiment, the control device 46 executes the battery check task at a predetermined cycle (several seconds to several tens of seconds). Even if the control device 46 executes the safety stop control, if the passenger gets on the coaxial two-wheel vehicle 10 after the stop, the control device 46 may be able to travel again for a predetermined period (for example, about several seconds).

  Therefore, in the coaxial two-wheel vehicle 10 according to the second embodiment, when the control device 46 determines that the charge amount of the battery 40 is equal to or less than the first predetermined amount N1 after the execution of the safety stop control, the control control of the coaxial two-wheel vehicle 10 is inverted. Stop starting. As a result, when the charge amount of the battery 40 is less than or equal to the first predetermined amount N1 and is not sufficient to control the driving force of the wheels 13L and 13R, the rider is forced to board the coaxial two-wheeled vehicle 10. It becomes impossible.

  Here, the above-described inversion control is, for example, posture control for allowing the coaxial two-wheeled vehicle 10 to stand on its own or in a state where no passenger is on it (see Japanese Patent Application Laid-Open No. 2007-331443).

  Further, the step portions 11L and 11R may be provided with a boarding switch for the passenger to get on the coaxial two-wheeled vehicle 10. A boarding switch is a switch which generates the boarding start trigger signal used as a trigger which performs boarding auxiliary control. The ride switch may be provided on the handle lever 36. The control device 46 may use the foot detection signals from the step sensors 39L and 39R as the boarding start trigger signal.

  For example, when the passenger puts his or her foot on the step units 11L and 11R and presses the boarding switch, the boarding start trigger signal is supplied to the control device 46. Normally, when receiving the boarding start trigger signal, the control device 46 starts the inversion control that starts execution of the boarding assist control and shifts the system to a travelable state.

  Since the other configuration of the coaxial two-wheel vehicle 10 according to the second embodiment is substantially the same as that of the coaxial two-wheel vehicle 10 according to the first embodiment, detailed description thereof is omitted.

  FIG. 4 is a flowchart illustrating an example of a control processing flow of the coaxial two-wheeled vehicle according to the second embodiment. As shown in FIG. 4, when the passenger puts his or her foot on the step portions 11L and 11R and presses the boarding switch, the boarding start trigger signal is supplied to the control device 46 (step S200).

  Next, when receiving a boarding start trigger signal from the boarding switch, the control device 46 executes a battery check task (step S201).

  Thereafter, the control device 46 determines whether or not the charge amount of the battery 40 is equal to or less than the first predetermined amount N1 (step S202).

  When it is determined that the charge amount of the battery 40 is equal to or less than the first predetermined amount N1 (YES in step S202), the control device 46 stops the start of the inversion control and returns to the above (step S200).

  At this time, the control device 46 sets the control target value of the wheel drive motors of the wheel drive units 14L and 14R to the speed 0 while the boarding switch is pressed and the boarding start trigger signal is continuously received from the boarding switch. Control to be As a result, the rotation of the wheels 13L and 13R can be reliably stopped and slipping or the like can be prevented.

  For example, even when the occupant gets on the coaxial two-wheeled vehicle 10 even though the control device 46 has stopped the inversion control, the rotation of the wheels 13L and 13R can be reliably stopped. Therefore, it is possible to prevent the passenger from getting on the coaxial two-wheel vehicle 10 more safely and reliably.

  On the other hand, when determining that the amount of charge of the battery 40 is not equal to or less than the first predetermined amount N1 (NO in step S202), the control device 46 starts normal inversion control (step S203) and shifts to a travelable state. (Step S204). Thereby, the passenger can drive the coaxial two-wheeled vehicle 10 as usual.

  As described above, in the coaxial two-wheel vehicle 10 according to the second embodiment, when the control device 46 determines that the charge amount of the battery 40 is equal to or less than the first predetermined amount N1, the start of the inversion control is stopped. As a result, when the charge amount of the battery 40 is less than or equal to the first predetermined amount N1 and is not sufficient to control the driving force of the wheels 13L and 13R, the rider is forced to board the coaxial two-wheeled vehicle 10. It becomes impossible. That is, the safety of the coaxial two-wheel vehicle 10 can be further improved.

  Next, a modification of the coaxial two-wheel vehicle 10 according to the second embodiment of the present invention will be described.

  In the second embodiment, similarly to the first embodiment, the control device 46 may determine whether or not the charge amount of the battery 40 is equal to or less than the second predetermined amount N2. When the control device 46 determines that the charge amount of the battery 40 is equal to or less than the second predetermined amount N2, the control device 46 lights or blinks the warning lamp 43. Thereby, the passenger can recognize in advance that the charged amount of the battery 40 is reduced and that careful handling is necessary.

  In the second embodiment, when the control device 46 determines that the charge amount of the battery 40 is equal to or less than the first predetermined amount N1 after executing the safety stop control, the control device 46 stops the start of the inversion control of the coaxial two-wheel vehicle 10. However, the present invention is not limited to this, and when it is determined that the charge amount of the battery 40 is equal to or less than the first predetermined amount N1 before the safety stop control is performed, the start of the inverted control of the coaxial two-wheel vehicle 10 may be stopped.

  Although the best mode for carrying out the present invention has been described using the embodiment, the present invention is not limited to such an embodiment, and is described above within the scope not departing from the gist of the present invention. Various modifications and substitutions can be made to the embodiments.

(A) It is a front view which shows the structure of the coaxial two-wheeled vehicle which concerns on 1st Embodiment of this invention. (B) It is a side view which shows the structure of the coaxial two-wheeled vehicle which concerns on 1st Embodiment of this invention. 1 is a block diagram illustrating an example of a system configuration of a coaxial two-wheeled vehicle according to a first embodiment of the present invention. It is a flowchart which shows an example of the control processing flow of the coaxial two-wheeled vehicle which concerns on 1st Embodiment of this invention. It is a flowchart which shows an example of the control processing flow of the coaxial two-wheeled vehicle which concerns on 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Coaxial motorcycle 11L, 11R Step part 12 Vehicle main body 13L, 13R Wheel 14L, 14R Wheel drive unit 15 Operation handle 16 Car body upper member 18L, 18R Side member 24 Operation lever bracket 31 Angle detection sensor 38 Alighting switch 39 Step sensor 40 Battery ( Power supply)
41 Power supply cover 42 Voltage sensor (charge amount detection unit)
43 Warning section (warning light)
44L, 44R Drive circuit 45 Attitude sensor unit 46 Control device 47 Arithmetic circuit 48 Storage device 49 Emergency stop switch

Claims (8)

A coaxial two-wheeled vehicle that includes a power source, a charge amount detection unit that detects a charge amount of the power source, and a wheel drive unit that is driven by electric power from the power source,
A control device that performs stop control to stop driving of the wheel drive unit when the charge amount of the power source detected by the charge amount detection unit is equal to or less than a first predetermined amount ;
A step part for placing a passenger's foot, an operation part operable to move at least forward and backward,
Equipped with a,
The control device, after the stop control, executes a getting-off assist control for assisting a passenger to get off,
Executing the getting-off assist control for increasing the inclination angle of the step portion with respect to the getting-off direction of the passenger ;
A coaxial two-wheeled vehicle characterized by that. A power source and a charge amount detection unit for detecting a charge amount of the power source,
A coaxial two-wheeled vehicle that is driven by electric power from the power source and moves with a passenger on it,
A control device that stops the start of the inversion control of the coaxial two-wheel vehicle when the charge amount of the power source detected by the charge amount detection unit is equal to or less than a first predetermined amount ;
A step part for placing a passenger's foot, an operation part operable to move at least forward and backward,
Equipped with a,
The control device, after the stop control, executes a getting-off assist control for assisting a passenger to get off,
Executing the getting-off assist control for increasing the inclination angle of the step portion with respect to the getting-off direction of the passenger ;
A coaxial two-wheeled vehicle characterized by that. The coaxial two-wheeled vehicle according to claim 1 or 2 ,
The coaxial two-wheeled vehicle, further comprising a warning unit that warns a passenger when the charge amount of the power source detected by the charge amount detection unit is equal to or less than a second predetermined amount. The coaxial two-wheeled vehicle according to any one of claims 1 to 3 ,
The control device varies the first predetermined amount and / or the second predetermined amount according to a control state of the coaxial two-wheel vehicle. The coaxial two-wheeled vehicle according to claim 1 or 2 ,
The said control apparatus is controlled so that the said coaxial two-wheeled vehicle may move to the inclination direction, when the said step part is inclined forward and backward by the said operation part. The coaxial two-wheeled vehicle according to claim 1,
The control device is configured to ground the grounding member on a road surface after the stop control. A control method for a coaxial two-wheeled vehicle that moves by carrying a passenger, including a charge amount detection step for detecting a charge amount of a power source, and a wheel drive step that is driven by electric power from the power source,
When the charging amount of the power detected by the charge amount detection step is a first predetermined amount or less, seen including a control step of executing a stop control to stop the wheel drive,
After the stop control, to perform a getting-off assist control for assisting the passenger to get off,
Executing the above-mentioned getting-off assist control for increasing the inclination angle of the step portion on which the rider's foot is put on the rider's getting-off direction;
A control method for a coaxial two-wheeled vehicle. A control method for a coaxial two-wheeled vehicle that includes a charge amount detection step for detecting a charge amount of a power source, is driven by power from the power source, and moves with a passenger on the vehicle,
When the charging amount of the power detected by the charge amount detection step is a first predetermined amount or less, seen including a control step of stopping the starting of the inversion control of the coaxial two-wheel vehicle,
After the stop control, to perform a getting-off assist control for assisting the passenger to get off,
Executing the above-mentioned getting-off assist control for increasing the inclination angle of the step portion on which the passenger's foot is put on the rider's getting-off direction
A control method for a coaxial two-wheeled vehicle.

Images